void net_motion_test::OnMouseMove(UINT nFlags, CPoint point)
{
//TRACE("on mouse move\n");
if(m_bmouse_down)
{
int orix,oriy;
getxy(m_ori,&orix,&oriy);
int dstx,dsty;
getxy(point,&dstx,&dsty);
int minx = min(orix,dstx);
int maxx = max(orix,dstx);
int miny = min(oriy,dsty);
int maxy = max(oriy,dsty);
for(int i = minx; i <= maxx; i++)
{
for(int j = miny; j <= maxy; j++)
{
if(m_ori_is_set)
{
set_motion(i,j);
}else{
clear_motion(i,j);
}
}
}
}
CEdit::OnMouseMove(nFlags,point);
}
void net_motion_test::clear_motion(POINT pt)
{
int x,y;
getxy(pt,&x,&y);
clear_motion(x,y);
}
void ADNS_Configuration(void)
{
ON_CS();
writr_register(Configuration_bits,0x10); //设置分辨率 1600 //若Bit 4为0，则为400点每英寸
delay_ms(3);
writr_register(Extended_Config,0x01);
delay_ms(3);
if(read_busy()!=1) {//设为3000帧每秒
OFF_CS(); //突发_写模式
delay_ms(2);
ON_CS();
SPI_SendReceive(Frame_Period_Max_Bound_Lower+0x80); //设置帧率 //先写低位再写高位
SPI_SendReceive(0x40); // C0 5000帧率
SPI_SendReceive(Frame_Period_Max_Bound_Upper+0x80);
SPI_SendReceive(0x1f); // 12
}
clear_motion();
OFF_CS();
}
void ADNS_Configuration(void)
{
ON_CS();
writr_register(Configuration_bits,0x10); //设置分辨率 1600 //若Bit 4为0，则为400点每英寸
delay_ms(3);
writr_register(Extended_Config,0x01); //设置为固定帧率，其值在Frame_Period_Max_Bound寄存器中
delay_ms(3);
if(read_busy()!=1)
{ //设为3000帧每秒,3000=24MHz/0x1f40,0x1f40=8000
OFF_CS(); //突发_写模式
delay_ms(2);
ON_CS();
SPI_Simu_RW(Frame_Period_Max_Bound_Lower+0x80); //设置帧率 //先写低位再写高位，若是读的话先读高位再读低位
SPI_Simu_RW(0x40); // C0， 5000帧率
// delay_us(75);
SPI_Simu_RW(Frame_Period_Max_Bound_Upper+0x80);
SPI_Simu_RW(0x1f); // 12
}
clear_motion();
OFF_CS();
}
void net_motion_test::OnLButtonDown(UINT nFlags, CPoint point)
{
if(!is_show_motion())
{
return;
}
if(is_motion_set(point))
{
clear_motion(point);
m_ori_is_set = FALSE;
}else{
set_motion(point);
m_ori_is_set = TRUE;
}
m_ori = point;
m_bmouse_down = TRUE;
//CEdit::OnLButtonDown(nFlags,point);
}
static int ransac(const int *matched_points, int npoints,
int *num_inliers_by_motion, double *params_by_motion,
int num_desired_motions, const int minpts,
IsDegenerateFunc is_degenerate,
FindTransformationFunc find_transformation,
ProjectPointsDoubleFunc projectpoints) {
static const double PROBABILITY_REQUIRED = 0.9;
static const double EPS = 1e-12;
int N = 10000, trial_count = 0;
int i = 0;
int ret_val = 0;
unsigned int seed = (unsigned int)npoints;
int indices[MAX_MINPTS] = { 0 };
double *points1, *points2;
double *corners1, *corners2;
double *image1_coord;
// Store information for the num_desired_motions best transformations found
// and the worst motion among them, as well as the motion currently under
// consideration.
RANSAC_MOTION *motions, *worst_kept_motion = NULL;
RANSAC_MOTION current_motion;
// Store the parameters and the indices of the inlier points for the motion
// currently under consideration.
double params_this_motion[MAX_PARAMDIM];
double *cnp1, *cnp2;
for (i = 0; i < num_desired_motions; ++i) {
num_inliers_by_motion[i] = 0;
}
if (npoints < minpts * MINPTS_MULTIPLIER || npoints == 0) {
return 1;
}
points1 = (double *)aom_malloc(sizeof(*points1) * npoints * 2);
points2 = (double *)aom_malloc(sizeof(*points2) * npoints * 2);
corners1 = (double *)aom_malloc(sizeof(*corners1) * npoints * 2);
corners2 = (double *)aom_malloc(sizeof(*corners2) * npoints * 2);
image1_coord = (double *)aom_malloc(sizeof(*image1_coord) * npoints * 2);
motions =
(RANSAC_MOTION *)aom_malloc(sizeof(RANSAC_MOTION) * num_desired_motions);
for (i = 0; i < num_desired_motions; ++i) {
motions[i].inlier_indices =
(int *)aom_malloc(sizeof(*motions->inlier_indices) * npoints);
clear_motion(motions + i, npoints);
}
current_motion.inlier_indices =
(int *)aom_malloc(sizeof(*current_motion.inlier_indices) * npoints);
clear_motion(¤t_motion, npoints);
worst_kept_motion = motions;
if (!(points1 && points2 && corners1 && corners2 && image1_coord && motions &&
current_motion.inlier_indices)) {
ret_val = 1;
goto finish_ransac;
}
cnp1 = corners1;
cnp2 = corners2;
for (i = 0; i < npoints; ++i) {
*(cnp1++) = *(matched_points++);
*(cnp1++) = *(matched_points++);
*(cnp2++) = *(matched_points++);
*(cnp2++) = *(matched_points++);
}
while (N > trial_count) {
double sum_distance = 0.0;
double sum_distance_squared = 0.0;
clear_motion(¤t_motion, npoints);
int degenerate = 1;
int num_degenerate_iter = 0;
while (degenerate) {
num_degenerate_iter++;
if (!get_rand_indices(npoints, minpts, indices, &seed)) {
ret_val = 1;
goto finish_ransac;
}
copy_points_at_indices(points1, corners1, indices, minpts);
copy_points_at_indices(points2, corners2, indices, minpts);
degenerate = is_degenerate(points1);
if (num_degenerate_iter > MAX_DEGENERATE_ITER) {
ret_val = 1;
goto finish_ransac;
}
}
if (find_transformation(minpts, points1, points2, params_this_motion)) {
trial_count++;
continue;
}
projectpoints(params_this_motion, corners1, image1_coord, npoints, 2, 2);
for (i = 0; i < npoints; ++i) {
double dx = image1_coord[i * 2] - corners2[i * 2];
double dy = image1_coord[i * 2 + 1] - corners2[i * 2 + 1];
double distance = sqrt(dx * dx + dy * dy);
if (distance < INLIER_THRESHOLD) {
current_motion.inlier_indices[current_motion.num_inliers++] = i;
sum_distance += distance;
sum_distance_squared += distance * distance;
}
}
if (current_motion.num_inliers >= worst_kept_motion->num_inliers &&
current_motion.num_inliers > 1) {
int temp;
double fracinliers, pNoOutliers, mean_distance, dtemp;
mean_distance = sum_distance / ((double)current_motion.num_inliers);
current_motion.variance =
sum_distance_squared / ((double)current_motion.num_inliers - 1.0) -
mean_distance * mean_distance * ((double)current_motion.num_inliers) /
((double)current_motion.num_inliers - 1.0);
if (is_better_motion(¤t_motion, worst_kept_motion)) {
// This motion is better than the worst currently kept motion. Remember
// the inlier points and variance. The parameters for each kept motion
// will be recomputed later using only the inliers.
worst_kept_motion->num_inliers = current_motion.num_inliers;
worst_kept_motion->variance = current_motion.variance;
memcpy(worst_kept_motion->inlier_indices, current_motion.inlier_indices,
sizeof(*current_motion.inlier_indices) * npoints);
assert(npoints > 0);
fracinliers = (double)current_motion.num_inliers / (double)npoints;
pNoOutliers = 1 - pow(fracinliers, minpts);
pNoOutliers = fmax(EPS, pNoOutliers);
pNoOutliers = fmin(1 - EPS, pNoOutliers);
dtemp = log(1.0 - PROBABILITY_REQUIRED) / log(pNoOutliers);
temp = (dtemp > (double)INT32_MAX)
? INT32_MAX
: dtemp < (double)INT32_MIN ? INT32_MIN : (int)dtemp;
if (temp > 0 && temp < N) {
N = AOMMAX(temp, MIN_TRIALS);
}
// Determine the new worst kept motion and its num_inliers and variance.
for (i = 0; i < num_desired_motions; ++i) {
if (is_better_motion(worst_kept_motion, &motions[i])) {
worst_kept_motion = &motions[i];
}
}
}
}
trial_count++;
}
// Sort the motions, best first.
qsort(motions, num_desired_motions, sizeof(RANSAC_MOTION), compare_motions);
// Recompute the motions using only the inliers.
for (i = 0; i < num_desired_motions; ++i) {
if (motions[i].num_inliers >= minpts) {
copy_points_at_indices(points1, corners1, motions[i].inlier_indices,
motions[i].num_inliers);
copy_points_at_indices(points2, corners2, motions[i].inlier_indices,
motions[i].num_inliers);
find_transformation(motions[i].num_inliers, points1, points2,
params_by_motion + (MAX_PARAMDIM - 1) * i);
}
num_inliers_by_motion[i] = motions[i].num_inliers;
}
finish_ransac:
aom_free(points1);
aom_free(points2);
aom_free(corners1);
aom_free(corners2);
aom_free(image1_coord);
aom_free(current_motion.inlier_indices);
for (i = 0; i < num_desired_motions; ++i) {
aom_free(motions[i].inlier_indices);
}
aom_free(motions);
return ret_val;
}
